XPlane/HardwareAdapter
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begin of threaded controller

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damage
2025-05-19 20:53:09 +02:00
parent 4e33b053f4
commit c8984d8765
1 changed files with 48 additions and 22 deletions
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70
controller/controller.c
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@ -9,10 +9,11 @@
#include <stdint.h> #include <stdint.h>
#include <stdarg.h> #include <stdarg.h>
#include <stdlib.h> #include <stdlib.h>
#include <pthread.h>
#include "global.h" #include "global.h"
#define I2C_DEVICE "/dev/i2c-7" #define IIC_DEVICE "/dev/i2c-7"
#define HEADING_SIM_UP "sim/autopilot/heading_up" #define HEADING_SIM_UP "sim/autopilot/heading_up"
#define HEADING_SIM_DOWN "sim/autopilot/heading_down" #define HEADING_SIM_DOWN "sim/autopilot/heading_down"
@ -21,7 +22,9 @@
#define AIRSPEED_SIM_UP "sim/autopilot/airspeed_up" #define AIRSPEED_SIM_UP "sim/autopilot/airspeed_up"
#define AIRSPEED_SIM_DOWN "sim/autopilot/airspeed_down" #define AIRSPEED_SIM_DOWN "sim/autopilot/airspeed_down"
int i2c; #define ERROR_IIC_OPEN "open failed"
pthread_mutex_t i2cLock;
struct device { struct device {
uint8_t address; // I2C address of device uint8_t address; // I2C address of device
@ -69,7 +72,7 @@ void _log(char *format, ...) {
va_end(args); va_end(args);
} }
int setI2CAddress(uint8_t address) { int setI2CAddress(int i2c, uint8_t address) {
if (ioctl(i2c, I2C_SLAVE, address) < 0) { if (ioctl(i2c, I2C_SLAVE, address) < 0) {
_log("setting periphal address 0x%02X failed\n", address); _log("setting periphal address 0x%02X failed\n", address);
return 0; return 0;
@ -78,7 +81,7 @@ int setI2CAddress(uint8_t address) {
} }
} }
void sendI2CInit(struct device d) { void sendI2CInit(int i2c, struct device d) {
_log("Sending init to %s\n", d.name); _log("Sending init to %s\n", d.name);
int bufLen = 1 + 1 + sizeof(d.name1) + 1 + sizeof(d.name2); int bufLen = 1 + 1 + sizeof(d.name1) + 1 + sizeof(d.name2);
@ -94,11 +97,11 @@ void sendI2CInit(struct device d) {
buf[i++] = d.name2[1]; buf[i++] = d.name2[1];
buf[i++] = d.name2[2]; buf[i++] = d.name2[2];
setI2CAddress(d.address); setI2CAddress(i2c, d.address);
i2c_smbus_write_block_data(i2c, 0, bufLen, buf); i2c_smbus_write_block_data(i2c, 0, bufLen, buf);
} }
void sendI2CData(struct device d, uint8_t triggerBit, char *data, uint8_t dataLen) { void sendI2CData(int i2c, struct device d, uint8_t triggerBit, char *data, uint8_t dataLen) {
int bufLen = 1 + 1 + 1 + dataLen; int bufLen = 1 + 1 + 1 + dataLen;
char buf[bufLen]; char buf[bufLen];
int i = 0; int i = 0;
@ -109,24 +112,23 @@ void sendI2CData(struct device d, uint8_t triggerBit, char *data, uint8_t dataLe
buf[i++] = data[j]; buf[i++] = data[j];
} }
setI2CAddress(d.address); setI2CAddress(i2c, d.address);
i2c_smbus_write_block_data(i2c, 0, bufLen, buf); i2c_smbus_write_block_data(i2c, 0, bufLen, buf);
} }
int main() { void* i2cSend(void* arg) {
int i2c;
}
void* i2cReceive(void* arg) {
int i2c;
__s32 i2cResponse; __s32 i2cResponse;
rrefSubscriptions = calloc(sizeof(struct device), numDevices); i2c = *((int*)arg);
i2c = open(I2C_DEVICE, O_RDWR);
if (i2c < 0) {
_log("Unable to open I2C device %s\n", I2C_DEVICE);
return 1;
}
while (1) { while (1) {
for (int i = 0; i < numDevices; i++) { for (int i = 0; i < numDevices; i++) {
setI2CAddress(devices[i].address); setI2CAddress(i2c, devices[i].address);
i2cResponse = i2c_smbus_read_byte_data(i2c, 0); i2cResponse = i2c_smbus_read_byte_data(i2c, 0);
if (i2cResponse < 0) { if (i2cResponse < 0) {
_log("I2C read from device %s failed: %s (%d)\n", devices[i].name, strerror(errno), errno); _log("I2C read from device %s failed: %s (%d)\n", devices[i].name, strerror(errno), errno);
@ -135,7 +137,9 @@ int main() {
} }
if (i2cResponse == DATA_RESET_BYTE) { if (i2cResponse == DATA_RESET_BYTE) {
sendI2CInit(devices[i]); sendI2CInit(i2c, devices[i]);
sendI2CData(i2c, devices[i], TRIGGER_BIT_1, "111", 3);
sendI2CData(i2c, devices[i], TRIGGER_BIT_2, "222", 3);
} else if (i2cResponse == DATA_STOP_BYTE) { } else if (i2cResponse == DATA_STOP_BYTE) {
// expect no forther data from device // expect no forther data from device
usleep(50 * 1000); usleep(50 * 1000);
@ -145,25 +149,47 @@ int main() {
_log("data: 0x%02x\n", i2cResponse); _log("data: 0x%02x\n", i2cResponse);
/* /*
XXX: put data into cache and handle with another core / loop / fork / whatever XXX: put data into cache and handle with another core / loop / fork / whatever
*/
if (i2cResponse & TRIGGER_BIT_1) { if (i2cResponse & TRIGGER_BIT_1) {
if (i2cResponse & HIGH_BIT_1) { if (i2cResponse & HIGH_BIT_1) {
sendI2CData(devices[i], TRIGGER_BIT_1, "+1+", 3); sendI2CData(i2c, devices[i], TRIGGER_BIT_1, "+1+", 3);
} else { } else {
sendI2CData(devices[i], TRIGGER_BIT_1, "-1-", 3); sendI2CData(i2c, devices[i], TRIGGER_BIT_1, "-1-", 3);
} }
} }
if (i2cResponse & TRIGGER_BIT_2) { if (i2cResponse & TRIGGER_BIT_2) {
if (i2cResponse & HIGH_BIT_2) { if (i2cResponse & HIGH_BIT_2) {
sendI2CData(devices[i], TRIGGER_BIT_2, "+2+", 3); sendI2CData(i2c, devices[i], TRIGGER_BIT_2, "+2+", 3);
} else { } else {
sendI2CData(devices[i], TRIGGER_BIT_2, "-2-", 3); sendI2CData(i2c, devices[i], TRIGGER_BIT_2, "-2-", 3);
} }
} }
*/
} }
} }
} }
close(i2c); close(i2c);
pthread_exit(NULL);
}
int main() {
int i2c;
pthread_t i2cReceiver;
rrefSubscriptions = calloc(sizeof(struct device), numDevices);
i2c = open(IIC_DEVICE, O_RDWR);
if (i2c < 0) {
_log("Unable to open I2C device %s\n", IIC_DEVICE);
}
pthread_mutex_init(&i2cLock, NULL);
pthread_create(&i2cReceiver, NULL, i2cReceive, &i2c);
pthread_join(i2cReceiver, NULL);
pthread_mutex_destroy(&i2cLock);
return 0;
} }